Abstract: This paper studies the inverse consensus of multi agent systems with directional constraints. It is assumed that the agents of the multi agent systems follow unidirectional motion in one dimensional space. For the first order integrator model, a control input is designed, under which the inverse consensus is achieved. For the second order integrator model, a method to design the protocol control is proposed, under which the agents stop and reach a configuration in which every agent is located at a distance no less than the sensing radius from every other agent. Further, the inverse consensus of multi agent systems in multi dimensional space is studied. It is assumed that the agents of the multi agent systems have constraints in a certain direction. For the first order integrator model and the second order integrator model, a control input is designed, under which the inverse consensus is achieved. Numerical simulations have demonstrated the effectiveness of the approach proposed.

Key words: inverse consensus, multi agent systems, directional constraints, distributed coordination